回转型绿篱修剪机动力学分析及虚拟样机仿真  

Dynamic mechanics analysis and virtual prototype simulation of hedgerow pruning

作　　者：阚延鹏 陈玉[1] 张新阳 赵转哲[1] 韩波 KAN Yanpeng;CHEN Yu;ZHANG Xinyang;ZHAO Zhuanzhe;HAN Bo(School of Mechanical Engineering,Anhui Polytechnic University,Wuhu 241000,China)

机构地区：[1]安徽工程大学机械工程学院,安徽芜湖241000

出　　处：《甘肃农业大学学报》2021年第2期193-200,共8页Journal of Gansu Agricultural University

基　　金：安徽省自然科学基金面上项目(1808085ME127);安徽工程大学引进人才科研启动基金项目(2019YQQ004).

摘　　要：【目的】研究绿篱机整机机构是否合理、是否存在运动干涉及“死点”、物体运动与受力之间的关系并且对球形轨迹进行仿真.【方法】基于建立的回转型绿篱机三维模型及系统动力学理论的基础,运用拉格朗日动力学建模法对模型结构进行分析,将模型拆分为由竖直升降关节和水平移动关节作为机构的两个连杆和绿篱机修剪末端的转动关节和一个移动关节两个系统,构造拉格朗日函数,再将其带入拉格朗日方程式得出动力学方程,接着利用ADAMS对绿篱修剪机进行动力学及虚拟样机仿真分析,设置驱动函数.【结果】实现回转型绿篱机的虚拟样机球形轨迹仿真分析,得出机构的运动位移、速度及加速度曲线关于时间函数的曲线.【结论】确定绿篱机修剪系统在运动过程中不存在“干涉”和死点,机构工作时升降关节的最大速度为85 mm/s,在最后顶部修剪时的加速度为-9 mm/s^(2),修剪顶部时位移达到100 mm,运动参数都达到要求.【Objective】In order to study whether the whole mechanism of Hedgerow machine is reasonable,whether there is motion interference and“dead point”,the relationship between object motion and force,and to simulate the spherical trajectory.【Method】Based on the three-dimensional model of the rotary Hedgerow machine and the theory of system dynamics,the structure of the model was analyzed by using Lagrange dynamics modeling method.The model was divided into two systems:the vertical lifting joint and the horizontal moving joint as the mechanism,and the rotating joint and one moving joint at the trimming end of the Hedge machine Then,the dynamic equation is obtained by introducing it into Lagrange equation,and then the dynamic and virtual prototype simulation analysis of hedge trimmer is carried out by using ADAMS,and the driving function is set.【Result】The spherical trajectory simulation analysis of virtual prototype of rotary Hedgerow machine is realized,and the curve of displacement,velocity and acceleration curve of mechanism with respect to time function is obtained.【Conclusion】There is no“interference”and dead point in the process of movement.The maximum speed of lifting joint is 85 mm/s,and the acceleration is-9 mm/s^(2) at the final top trimming.The displacement reaches 100mm when trimming the top,and the motion parameters meet the requirements.

关 键 词：绿篱机 动力学 拉格朗日法 ADAMS虚拟样机 驱动函数 

分 类 号：TH12[机械工程—机械设计及理论]